A camera monitors positions on an external object having a beacon (1(i), i=1, 2, . . . , I; 130; 430) attached to it. The apparatus has at least one image sensor (120; 321, 322; 420; 520), an imaging optical element (101) for projecting light on the image sensor (120), and a processing unit (9). The imaging optical element (101) may be non-refractive and receives a light beam (5(i); 131) transmitted from the beacon (1(i); 130; 430) and transfers the light beam (5(i); 131) to the image sensor (120; 321, 322; 420; 520). The image sensor (120; 321, 322; 420; 520) forms image data based on the received light beam (5(i); 131) and background light. The processing unit (9) processes the image data such that it filters image data components relating to the background light and renders image data components relating to the light beam.
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2. The apparatus according to claim 1, wherein the at least one non-refractive optical element comprises at least one of a pinhole, two or more pinholes, one or more slits, one or more zone plates, one or more holographic optical elements, or one or more masks, including binary masks, coding masks and wave front coding masks.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. This non-refractive optical element specifically comprises one or more of a pinhole, multiple pinholes, one or more slits, one or more zone plates, one or more holographic optical elements, or various masks, including binary, coding, and wavefront coding masks.
3. The apparatus according to claim 2, wherein the one or more zone plates are one of a Fresnel zone plate, a zone plate with a plurality of circular shaped concentric transparent rings, and a zone plate with one or more concentric arcuate or circular transparent rings of which at least one covers less than a complete circle.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The non-refractive optical element can be, for example, a pinhole, slits, or one or more zone plates. When one or more zone plates are used, they can be a Fresnel zone plate, a zone plate with multiple circular concentric transparent rings, or a zone plate with one or more concentric arcuate or circular transparent rings, where at least one of these rings covers less than a complete circle.
4. The apparatus according to claim 1, wherein the at least one image sensor comprises a two-dimensional image sensor.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. In this apparatus, the image sensor is specifically a two-dimensional image sensor.
6. The apparatus according to claim 1, wherein the at least one image sensor is at least one of a NMOS image sensor, digital photon counter DPC based image sensor, multi pixel photon counter MPPC based image sensor, CCD image sensor, CMOS image sensor and APD image sensor.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The image sensor can be one of an NMOS image sensor, a digital photon counter (DPC) based image sensor, a multi-pixel photon counter (MPPC) based image sensor, a CCD image sensor, a CMOS image sensor, or an APD image sensor.
7. The apparatus according to claim 1, wherein the processing unit is configured to identify a specific, unique pattern in the image data and identify the at least one beacon.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The processing unit is specifically configured to identify the beacon by recognizing a unique, specific pattern within the image data.
8. The apparatus according to claim 1, wherein the processing unit is configured to apply at least one of a high pass filtering on the image data to measure a noise floor, a low pass filtering to the image data to render image data components relating only to locked-on smart beacon signals, and a flat-field compensation algorithm.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The processing unit is specifically configured to apply one or more of the following: high-pass filtering on the image data to measure a noise floor, low-pass filtering on the image data to render only components related to locked-on smart beacon signals, or a flat-field compensation algorithm.
10. The apparatus according to claim 1, wherein the at least one image sensor comprises a plurality of light sensitive elements configured in a two-dimensional matrix forming an image plane and wherein the non-refractive optical element comprises a pinhole.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. In this apparatus, the image sensor comprises multiple light-sensitive elements arranged in a two-dimensional matrix, forming an image plane. The non-refractive optical element is specifically a pinhole.
11. The apparatus according to claim 1, wherein the at least one image sensor comprises a line sensor having plurality of light sensitive elements configured in a one-dimensional matrix, and wherein the at least one non-refractive optical element comprises a slit.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. In this apparatus, the image sensor is a line sensor, having multiple light-sensitive elements arranged in a one-dimensional matrix. The non-refractive optical element is specifically a slit.
12. The apparatus according to claim 11, wherein the slit is oriented perpendicular to a line sensor longitudinal direction.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The image sensor is a line sensor with light-sensitive elements in a one-dimensional matrix, and the non-refractive optical element is a slit. This slit is specifically oriented perpendicular to the longitudinal direction of the line sensor.
13. The apparatus according to claim 1, comprising one or more extra light sources configured optically behind the at least one non-refractive optical element and configured to illuminate the at least one image sensor in order to create a bias in light sensing elements of the at least one image sensor.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. This apparatus further comprises one or more additional light sources. These extra light sources are optically positioned behind the non-refractive optical element and are configured to illuminate the image sensor, thereby creating a bias in its light-sensing elements.
15. The apparatus according to claim 14, wherein the front wall or cover is sealed with a transparent cover.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. This apparatus further comprises a housing that includes a front wall or cover. This front wall or cover is specifically sealed with a transparent cover.
17. The apparatus according to claim 16, wherein the processing unit is further configured to identify the at least one beacon based on image processing of the image data.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The processing unit is further configured to determine the position of the beacon relative to a fixed reference frame. To do this, the processing unit identifies the beacon based on image processing of the captured image data.
18. The apparatus according to claim 16, wherein the processing unit is further configured to perform image processing of the image data based on Fourier transformation.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The processing unit is further configured to determine the position of the beacon relative to a fixed reference frame. This processing unit specifically performs image processing on the image data based on Fourier transformation.
19. The apparatus according to claim 16, wherein the processing unit is further configured to perform image processing of the image data based on correlation or autocorrelation.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The processing unit is further configured to determine the position of the beacon relative to a fixed reference frame. This processing unit specifically performs image processing on the image data based on correlation or autocorrelation.
20. The apparatus according to claim 16, wherein the fixed reference frame is defined relative to earth.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The processing unit is further configured to determine the position of the beacon relative to a fixed reference frame. This fixed reference frame is specifically defined relative to Earth.
21. The apparatus according to claim 16, wherein the processing unit is further configured to determine light intensity or wavelength of the at least one light beam based on the image data, and to derive additional data as transmitted by the at least one beacon which modulated the light intensity or wavelength.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The processing unit is further configured to determine the position of the beacon relative to a fixed reference frame. Additionally, this processing unit determines the light intensity or wavelength of the light beam based on the image data, and from this, derives additional data transmitted by the beacon that modulated the light intensity or wavelength.
22. The apparatus according to claim 21, wherein the non-refractive optical element is configured to receive a consecutive series of light beams transmitted from the at least one beacon and transfer the consecutive light beams to the image sensor; the image sensor is configured to form consecutive pieces of image data based on the received consecutive light beams; and the processing unit is configured to determine consecutive light intensities or wavelength of the consecutive light beams based on the consecutive pieces of image data, and to demodulate the consecutive light intensities or wavelength to derive the additional data.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The processing unit also determines the light intensity or wavelength of the light beam from the image data, and derives additional data transmitted by the beacon which modulated these properties. Specifically, the non-refractive optical element receives a consecutive series of light beams from the beacon and transfers them to the image sensor. The image sensor forms consecutive pieces of image data, and the processing unit determines consecutive light intensities or wavelengths from this data, then demodulates them to derive the additional data.
23. The apparatus according to claim 21, wherein consecutive light intensities or wavelength are modulated by one of amplitude modulation, frequency modulation, and phase modulation.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. The processing unit also determines the light intensity or wavelength of the light beam from the image data, and derives additional data transmitted by the beacon which modulated these properties. When the beacon modulates consecutive light intensities or wavelengths to transmit additional data, this modulation can be one of amplitude modulation, frequency modulation, or phase modulation.
27. The apparatus according to claim 25, wherein consecutive light intensities or wavelengths are modulated by one of amplitude modulation, frequency modulation, and phase modulation.
An apparatus for surveying reference points on an external object includes an image sensor, a non-refractive optical element for receiving light beams from a beacon on the object and directing them to the image sensor, and a processing unit that processes image data from the sensor by filtering out background light and extracting components related to the beacon's light beam. This apparatus is further configured such that the optical element receives consecutive light beams from the beacon, the image sensor forms consecutive image data from these beams, and the processing unit derives additional data by analyzing the beacon's modulated consecutive light intensities or wavelengths from this image data. These consecutive light intensities or wavelengths can be modulated using amplitude modulation, frequency modulation, or phase modulation.
30. The method according to claim 28, wherein random noise or noise having a pre-determined pattern is added to each pixel of the image data before digitization.
A method for surveying reference points involves receiving a light beam from an external beacon on an object via a non-refractive optical element, directing this beam to an image sensor, forming image data from the sensor (combining beacon light and background light), and processing this image data to filter out background light components and render components specifically related to the beacon's light beam. As part of this method, random noise or noise having a pre-determined pattern is added to each pixel of the image data before it undergoes digitization.
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January 22, 2019
March 26, 2024
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